formiat/px4-ros2-drone-nav

Autonomous UAV navigation in GNSS-denied indoor spaces with no prior map: stereo VIO (MSCKF) and lidar-inertial odometry with map-based relocalization (SLAM), 3D occupancy mapping, D* Lite path planning and GPU MPPI obstacle avoidance. PX4 + ROS 2 + Gazebo SITL, DARPA SubT Urban.

语言：C++ · GitHub 星标：166 · Fork：33

话题：autonomous-navigation · d-star-lite · darpa-subt · drone · gazebo · gnss-denied · gps-denied · lidar-inertial-odometry

在 GitHub 上查看原仓库